In
te
r
n
ation
a
l Jou
rn
al
o
f Po
we
r
Elec
tron
ic
s an
d
D
r
ive S
y
stem
(IJ
PED
S
)
V
o
l.
10, N
o.
2, June
2
01
9, pp.
822~
8
3
0
IS
S
N
: 2088-
86
94,
D
O
I
:
10.11
59
1
/ij
ped
s
.
v10
.
i
2.pp
8
22-
83
0
822
Jou
rn
a
l
h
o
me
pa
ge
:
ht
tp:
//i
a
e
score
.
com
/
j
o
u
r
na
l
s
/
i
n
d
e
x
.
p
hp/IJ
PED
S
Optimal PID controller of a bru
shl
e
ss DC
motor us
i
ng genetic
algorithm
Muha
mmed
A
.
I
b
r
a
h
im
1
, Au
s
ama
Kh
. Mah
mood
2
,
Na
sh
w
a
n
Sa
leh
Sulta
n
3
1
S
y
s
t
e
m
and
Co
n
t
rol
Dep
a
rtm
e
nt
,
Nin
e
vah
Uni
v
ers
i
t
y
,
Iraq
2
El
ectrical P
ower Dep
artm
ent
-
Tech
n
i
c
a
l
I
n
st
it
u
t
e
in
M
os
u
l
,
N
o
r
t
hern Technical
U
nivers
i
t
y, Iraq
3
P
o
w
er T
echni
cal E
ngin
e
eri
n
g
Dep
a
rtm
e
nt, N
orth
ern T
echn
i
cal Un
i
versit
y
,
I
raq
Art
i
cl
e In
fo
ABSTRACT
A
r
tic
le hist
o
r
y
:
R
e
c
e
i
v
e
d
Oct
1
6
,
2
018
Re
vise
d N
ov
1
9
,
201
8
A
c
c
e
pte
d
F
eb 11,
2
0
1
9
Brus
hl
e
s
s
D
C
(
BLDC)
m
o
tor
is
c
o
mmo
nl
y
e
m
p
l
oy
ed
f
o
r
m
any
i
n
d
u
st
r
ial
app
l
i
catio
n
s
d
ue
t
o
thei
r
hig
h
t
o
r
qu
e
a
n
d
ef
fici
ency.
T
h
i
s
a
rti
cle
pro
duces
a
n
op
tim
al
d
esign
e
d
co
ntro
ll
er
o
f
Bru
s
h
l
es
s
DC
m
ot
or
s
p
eed
c
on
tro
l
d
ep
endi
ng
o
n
t
h
e
g
e
n
e
t
ic
a
lg
orith
m
(
G
A
).
T
h
e
o
pt
imi
z
a
t
io
n
me
th
od
i
s
use
d
for
search
ing
o
f
t
he
i
d
eal
P
rop
o
rt
io
nal
–
Int
e
gral
-Deriv
ati
v
e
(P
ID)
f
act
ors.
T
h
e
con
t
ro
ller
d
esi
g
n
m
e
tho
d
s
o
f
b
rus
h
l
e
ss
D
C
m
o
tor
i
n
cl
udes
th
ree
ki
nds:
t
r
ial
and
erro
r
P
I
D
d
e
si
gn
,
au
to
-tu
n
ing
P
I
D
des
i
gn
a
n
d
g
en
et
ic
a
lg
ori
th
m
b
a
s
e
d
con
t
ro
ll
e
r
des
ign
.
A
P
ID cont
roller
i
s ut
ili
z
in
g
b
y
con
duct
e
d
I
n
t
eg
r
a
l
ab
so
lut
e
error
crit
er
i
o
n
(
I
A
E
)
and
i
n
t
e
gr
al
s
quared
e
rror
(ISE)
e
rror
cr
i
t
erion
for
B
L
D
C
m
o
t
o
r
c
o
n
t
r
o
l
s
y
s
t
e
m
.
A
G
A
-
P
I
D
c
o
n
t
r
o
l
l
e
r
i
s
d
e
s
i
g
n
e
d
t
o
e
n
h
a
n
ce
th
e
sy
st
em
p
erform
ance
b
y
m
ean
s
of
g
enet
ic
a
l
gorith
m.
P
ID
c
o
n
t
r
oll
e
r
coef
fi
cients
,
are
cal
culat
e
d by
G
A
t
o
p
r
od
uce
o
p
tim
a
l
P
ID
a
s
hy
bri
d
P
ID
w
ith
G
A
c
o
n
t
r
oll
e
r
.
T
he
c
los
e
d
lo
op
sp
eed
r
es
po
nse
o
f
PI
D
con
t
ro
ller
i
s
ex
p
e
rim
e
nt
ed
f
o
r
I
AE
a
nd
I
S
E
e
rror
cri
t
eria.
The
suggested
con
t
ro
ller
G
A_PID
is
p
lan
n
ed
,
mo
de
l
e
d
and
sim
u
lat
e
d
b
y
M
ATLAB/
so
ftw
a
re
p
ro
gram
.
A
co
m
p
arison
out
put
s
ystem
perf
orm
a
n
c
e
m
oni
to
red
f
o
r
every
con
t
rol
l
er
s
chem
es.
T
h
e
res
u
lts
d
is
pl
ay
t
hat
t
h
e
tim
e
cha
ract
erist
i
cs
perf
o
r
man
ce
of
GA-P
I
D
controller
b
a
sed
on
I
S
E
o
bj
ecti
v
e
f
u
n
c
ti
o
n
h
a
s
the
optimal
p
erfor
m
ance
(ri
se
t
i
m
e,
s
ettli
ng
time,
p
ercentag
e
o
ver
s
h
oot
)
with
ot
her
t
echn
i
qu
es.
K
eyw
ord
s
:
Br
ush
l
e
s
s
D
C
m
otor
G
e
ne
tic
A
lg
ori
t
hm
.
Integral Absolu
t
e Err
o
r (IAE
)
Integral Squared
Error
(ISE)
PID Co
nt
r
o
l
l
er
s
Co
pyri
gh
t © 2
019 In
stit
u
t
e
of Advanced
En
gi
neeri
n
g
an
d
S
c
ien
ce.
All
rights
res
e
rv
ed.
Corres
pon
d
i
n
g
Au
th
or:
N
a
shw
a
n S
.
S
ult
a
n,
Dep.
of
Powe
r Tech
nica
l
En
g
i
ne
eri
ng,
Tec
h
n
i
c
a
l
Co
l
l
e
g
e o
f
En
g
i
n
eer
ing,
N
o
rther
n
Tec
h
n
i
c
a
l
U
ni
ver
s
it
y,
Mo
su
l
/
I
raq.
Em
ail:
su
lta
n
_
n
as
hw
n@
ya
hoo.
com
,
n
ashw
an.
s
ale
h
@
n
t
u
.e
d
u
.
i
q
1.
I
N
TR
OD
U
C
TI
O
N
The
BLD
C
m
ot
ors
ar
e
com
m
only
use
d
i
n
ind
u
s
t
ria
l
a
pp
lica
t
i
ons
a
n
d
i
n
s
t
rum
e
nta
t
ion
s
m
ore
t
h
a
n
con
v
e
n
t
i
ona
l
D
C
m
otor
due
t
o
a
t
t
r
ac
ti
ve
f
e
a
tures
s
u
c
h
a
s:
h
i
g
h
ef
fi
ci
e
n
c
y
,
h
i
gh
t
o
r
qu
e,
g
re
at
s
p
e
e
d
,
smal
l
no
ise
,
m
in
or
vol
ume
and
e
x
t
e
nde
d
l
i
fe.
The
BLD
C
m
ot
or
s
do
n
o
t
h
a
v
e
brus
hes
l
i
ke
D
C
mot
o
r
t
h
e
r
ef
ore
n
o
sparks
dur
in
g
ope
ra
ti
o
n
.
Thi
s
a
ll
ow
s
u
s
i
ng
the
m
o
tor
i
n
h
a
z
a
r
do
us
a
r
eas.
A
s
it
is
s
how
n
i
n
F
i
g
ure
1
s
i
m
p
le
cross
sec
t
i
o
n
BLD
C
m
ot
or
c
on
ta
in
i
n
g
sta
t
or
t
hat
c
a
rries
w
in
din
g
s.
W
hile
t
he
r
o
t
or
c
on
ta
in
s
perm
ane
n
t
ma
gnet
s
for
a
rra
ngem
e
n
t
t
w
o
m
agne
tic
p
a
i
rs of
p
o
l
e.
T
he
s
t
a
tor
w
i
nd
in
gs
a
re di
v
ide
d
i
n t
w
o
k
i
nd
s:
s
in
u
s
o
i
da
l
and
trape
z
o
i
d
a
l
.
These
two
kin
d
s
sha
p
e
t
h
e
form
o
f
the
b
a
c
k
e
l
e
ctrom
o
tive
for
ce
(BEM
F
)
i
nd
ica
t
i
o
n.
T
he
form
of BE
MF
i
s ad
j
u
ste
d
by di
ssi
mi
lar co
i
l
in
t
er - c
on
nec
t
i
ons
a
n
d
t
h
e
s
p
a
c
e
of the
a
i
r g
a
p [2]. In addi
tio
n
to
B
E
MF
,
the
ph
a
s
e
curre
n
t
a
ls
o
t
r
acks
a
si
nu
so
ida
l
a
nd
t
r
a
p
e
z
o
i
d
a
l
form
.
A
sinus
o
i
da
l
motor
type
p
r
oduc
es
fla
t
ter
elec
t
r
o
m
a
gnet
i
c
t
o
rq
ue
t
ha
n
ot
her
trape
z
o
i
d
a
l
m
ot
o
r
t
y
p
e.
H
owe
v
er,
a
B
L
DC
m
o
t
or
w
ork
s
e
asi
l
y
t
h
ro
ugh
t
ra
p
ezo
id
al
s
t
a
to
r
win
d
in
gs
.
W
h
il
e
t
h
e
con
v
e
nt
ion
a
l
DC
m
o
t
o
r
prod
uce
s
f
l
u
x
w
h
e
n
c
urr
e
nt
p
ass
Evaluation Warning : The document was created with Spire.PDF for Python.
Int J
P
o
w
E
l
e
c
&
D
ri S
yst
IS
S
N
:
2088-
86
94
O
p
t
i
m
a
l PID
c
o
n
t
r
o
l
l
er
o
f
a b
r
us
hles
s D
C
mot
o
r us
i
ng ge
n
e
t
i
c
a
l
go
ri
t
h
m
(
M
uh
am
m
e
d
A.Ibrah
i
m
)
82
3
thr
o
u
g
h
t
he
s
t
a
tor
w
i
nd
ing,
b
u
t
t
he
B
L
D
C
m
o
t
o
r
us
e
s
p
erm
a
ne
n
t
m
a
gnet
i
c
to
p
ro
vide
t
he
n
ece
ssa
r
y
air
gab flux[
3
].
F
i
gure
1.
B
D
C
M sim
p
l
e
c
ross
secti
on.
Th
e
au
tho
r
s
i
n
t
r
od
u
c
e
a
re
n
e
wa
b
l
e
e
n
e
r
gy
a
s
p
hot
ovol
t
a
i
c
c
el
l
s
o
u
rc
e
t
o
f
ee
d
t
h
e
BL
D
C
d
uri
ng
t
h
e
bo
ost
c
o
n
v
erte
r
and
t
h
ree
ph
ase
in
ver
t
e
r
.
This
g
re
en
e
l
e
ct
rica
l
e
ner
gy
s
o
urc
e
w
it
h
MP
P
T
m
e
t
ho
d
f
o
r
BL
D
C
motor
w
a
s
e
m
pl
o
y
ed
a
n
d
c
o
n
firm
ed
w
ith
M
A
TLA
B
s
i
m
u
l
a
tio
n.
T
h
i
s
m
otor
i
s
o
p
er
ati
n
g
w
it
h
p
h
o
tov
o
lta
ic
pow
er
s
ource
a
s
w
e
ll
as
e
ne
r
g
y
ba
tter
y
s
o
u
rce
.
T
he
C
ou
ple
d
i
n
d
u
c
t
or
o
f
t
h
e
boo
st
c
on
verter
w
it
h
va
ria
b
l
e
du
ty
c
yc
le
o
f
the
i
n
serte
d
c
o
nver
t
er
w
a
s
m
e
r
ged.
T
he
s
pe
ed
c
o
n
t
ro
ller
w
a
s
desi
g
n
ed
t
o
ad
va
nc
e
t
h
e
BLD
C
motor
perf
orm
a
n
c
e
[3]
.
I
n
[4]
,
B
LD
C
m
o
t
o
r
di
g
i
ta
l
c
o
n
t
ro
l
w
i
th
P
I
D
a
nd
H
ybr
id
F
uzz
y
-
P
ID
f
or
s
tea
d
y
s
t
ate
opera
tio
n
a
n
d
m
a
ny
di
ffe
re
nt
s
pee
d
s
(D
y
n
a
m
ic
S
t
a
te).
Re
su
lt
fu
zz
y-P
I
D
co
ntro
lle
r
ha
s
mor
e
e
fficie
n
c
y
t
ha
n
PID
control
l
er
(
better
p
er
form
an
c
e
).
T
he
B
L
D
C
mot
o
r
is
c
ontr
o
l
l
ed
b
y
de
sign
i
ng
tw
o
c
o
nt
r
o
ller
t
y
pes’
f
uzz
y
lo
gic
an
d
P
I
c
o
n
tro
l
lers.
The
s
e
c
o
n
t
r
o
lle
r
s
c
ontr
o
l
l
e
d
t
he
s
pee
d
o
f
B
LD
C
mot
o
r.
T
he
s
ys
t
e
m
ou
t
p
u
t
perform
ance
r
esu
l
ts are
c
omp
a
r
e
d w
i
t
h
the
se
c
on
tro
l
le
r
t
y
pe
s.
T
he
d
esi
g
ne
d F
L
C
is be
s
t
t
h
an P
I con
t
ro
lle
r for
the
m
o
tor
spee
d
thr
o
ug
h
redu
c
i
n
g
ove
rsh
o
o
t,
c
om
puta
t
io
n
a
l
t
i
m
e
and
low
e
r
err
o
r
[5].
I
n
[6]
,
T
he
c
on
trol
le
r
P
I
D
and
bac
t
er
ial
f
o
rag
i
n
g
(B
F
)
-
p
a
r
ticle
s
w
a
rm
opt
i
m
iza
t
i
o
n(P
S
O)
a
l
g
o
r
it
hm
(
com
b
ini
n
g
P
S
O
and
BF
)
w
a
s
use
d
w
ith IA
E
,
I
S
E
,
MS
E
and IA
TE
er
ror
criteria
,
Relying
on
t
he
ir resu
l
ts BF
-
P
S
O
P
ID
c
on
t
r
o
l
le
r i
m
proves
the
per
f
orm
a
nce
be
tter
t
h
a
n
P
ID
c
on
tro
l
l
e
r.
T
he
B
LD
C
mot
o
r
sp
ee
d
w
a
s
c
o
nt
r
o
l
l
ed
b
y
de
sig
n
i
n
g
t
he
S
ing
l
e
Inp
u
t
F
u
zzy
P
I
C
o
nt
r
o
lle
r.
T
h
e
s
i
m
p
l
i
f
i
e
d
F
L
C
w
a
s
us
ed
w
i
t
h one
c
on
t
r
ol
i
n
p
u
t
.
T
h
e
S
I
FP
IC
a
re
s
olv
e
s
m
a
ny
p
r
ob
l
e
ms
m
a
d
e
b
y
c
l
assi
c
a
l
FLC
fo
r
e
x
a
m
p
l
e
l
ong
p
roposa
l
c
y
c
l
e
,
f
a
c
t
o
rs
f
or
t
u
n
i
n
g
and
di
ff
i
c
ult
y
o
f
process
to imp
le
me
nt a
t t
h
e c
o
n
t
ro
l. T
he
sim
ul
a
t
i
o
n
me
t
h
o
d
w
i
t
h
t
h
e
S
I
F
P
I
C, classical FLC, and d
i
s
cr
ete PI con
tro
ller
are
opera
t
e
d
t
o
r
e
gul
a
t
e
an
d
con
t
ro
l
th
is
m
ot
or.
The
com
p
ariso
n
r
esul
ts
f
o
r
t
he
se
c
o
n
tro
l
le
rs
t
hat
pr
od
uc
e
th
e
S
I
F
P
I
C
c
o
n
t
r
o
l
l
e
r
i
s
t
h
e
b
e
t
t
e
r
t
h
a
n
o
t
h
e
r
s
[
7
]
.
I
n
[
8
]
,
t
h
e
P
I
D
c
o
ntro
l
l
e
r
g
a
in
s
are
o
b
t
a
i
n
ed
t
h
r
o
ugh
c
o
nv
en
tio
n
a
l
me
t
h
od
s
of
Z
i
e
g
l
er-Ni
c
ho
l
a
s
(ZN),
Co
h
e
n
Coo
n
(
CC)
a
n
d
A
m
str
o
n-
H
a
gg
l
u
n
d
(
A
H
)
u
si
ng
F
r
actio
nal
O
r
d
e
r
P
I
D
to
c
o
n
t
r
o
l
t
he
s
pee
d
a
n
d
i
mpr
ove
me
n
t
i
n
t
r
ans
i
e
n
t
pe
rform
a
nc
e.
T
he
B
LD
C
m
o
t
o
r
w
i
t
h
three
c
l
ass
i
ca
l
sens
ors
is
d
ri
v
e
n
a
nd
fe
d
by
ph
o
t
o
vol
ta
ic
e
nerg
y
s
ourc
e
t
hro
u
g
h
s
t
e
p
u
p
D
C
t
o
D
C
c
o
nve
r
t
er
opera
tin
g
in
t
he
g
rea
t
v
o
l
t
a
ge
g
ai
n
w
i
t
h
t
hre
e
p
hase
i
n
v
e
r
ter.
Th
is
s
ys
tem
i
s
v
e
r
ifie
d
for
a
d
j
u
s
t
ab
le
i
n
c
r
ement
a
l
m
o
to
r
sp
eed
w
it
h
st
ati
c
t
o
r
que
a
n
d
a
d
j
u
st
ab
l
e
d
e
c
re
m
e
nt
ed
m
ot
or
s
pee
d
w
i
t
h
s
t
a
t
ic
t
or
qu
e
wo
rk
ing
se
t
ting
s
[
9
]
.
BLD
C
m
otor
S
pee
d
a
n
d
t
orque
c
on
tro
l
i
s
e
x
trem
ely
s
i
gni
fi
c
a
n
t.
S
peed
c
o
n
tro
l
i
s
r
e
qu
ired
t
o
a
d
ju
st
me
nt
t
h
e
i
n
put
e
l
e
ct
ri
c
p
o
w
e
r
o
f
t
h
e
mo
t
o
r
to
r
ea
ch
s
p
eed
w
hic
h
i
s
nee
d
e
d
.
M
o
re
over
s
p
ee
d
c
o
ntr
o
l
is
impor
ta
nt
w
he
n
the
mot
o
r
spe
e
d
s
t
a
b
le
a
nd
a
c
c
u
r
a
te
i
n
sensi
t
i
v
e
a
p
p
l
i
c
a
t
i
o
n
.
V
a
r
i
o
u
s
a
p
p
r
o
a
c
h
e
s
P
I
D
con
t
ro
l
l
er
i
s
de
signe
d
for
BL
D
C
m
ot
or
w
e
r
e
e
m
pl
oye
d
w
i
t
h
r
e
s
pec
t
to
h
i
g
h
perf
orma
nc
e
t
i
m
e
c
har
acte
r
ist
i
cs
re
q
u
i
r
emen
t
s
.
Ea
rl
y
con
v
e
nt
io
n
a
l
app
r
o
a
ches
a
re
u
t
i
l
i
z
ed
f
o
r
P
I
D
contr
o
l
l
er
t
o
c
o
n
t
ro
l
th
e
ro
ta
ti
o
n
o
f
t
h
e
motor
for
a
i
m
t
h
at
r
eq
uires
l
o
w
a
ccur
a
c
y
s
uc
h
as
t
r
i
al
a
n
d
e
rro
r
a
n
d
MA
TLA
B
tune
r
a
p
plic
a
tion.
F
o
r
app
l
ica
t
i
o
ns
w
he
re
t
he
c
ha
ng
e
of
s
peed
a
n
d
t
orq
u
e
is
a
n
i
m
porta
n
t
f
ac
t
o
r
,
i
t
is
v
ery
nec
e
ssary
t
o
h
a
ve
a
n
effec
t
i
v
e
a
nd
p
r
ecise
c
o
n
tr
ol
l
e
r
stra
t
e
g
y
.
Now
a
da
ys,
in
t
e
lli
g
e
n
t
tec
h
n
i
qu
es
like
par
tic
le
s
w
a
rm
opt
imi
z
a
tio
n
(P
S
O
),
b
a
c
ter
i
a
l
f
or
ag
i
n
g
(B
F
)
a
nd
gene
tic
a
l
g
ori
t
hm
(
G
A
)
m
etho
d
o
l
o
gy
a
r
e
u
se
d
to
o
bt
a
i
n
a be
tter
c
o
ntr
o
l
l
e
r
p
e
rfo
rma
n
c
e
t
o
co
nt
rol
th
e
el
ec
t
r
i
c
m
a
c
hi
nes
wh
e
n
t
h
e
o
p
t
i
m
ali
t
y
re
qu
ir
ed
i
n
se
ns
i
tiv
e
ap
pl
i
c
a
t
io
ns
f
or
t
y
p
e
of
B
LD
C
m
o
t
o
rs.
I
n
t
he
c
urrent
a
r
t
ic
le
t
he
o
p
tima
l
P
I
D
c
on
tro
l
l
e
r
w
as
d
esi
gne
d
for
BLD
C
m
ot
or
c
o
n
tro
l
sy
st
em.
Th
i
s
m
e
t
hod
i
s u
s
ed
b
a
s
ed
o
n
t
h
e
IAE
a
n
d
ISE
erro
r
c
r
i
t
er
i
a
m
i
n
im
iza
tio
n ba
se
d
o
n
ge
n
e
t
i
c
al
g
ori
t
hm
t
e
c
hni
qu
e
s
t
o
a
c
h
i
e
v
e
opt
i
m
a
l
P
ID
c
o
n
t
r
ol
l
e
r
f
act
o
r
s
for
re
su
lt
e
nh
an
ce
me
nt
s
a
n
d
syste
m
p
e
rform
anc
e
i
m
p
r
ov
emen
t
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
S
S
N: 2
0
8
8
-
86
94
I
n
t
J Po
w
Elec
&
Dr
i
Sy
st,
Vo
l. 1
0
,
No
. 2
,
Ju
n
e
2
019
:
8
2
2
–
8
30
82
4
2.
RESEARCH METHOD
T
h
e
ma
j
o
r
d
i
ff
e
r
en
c
e
b
et
ween
t
h
e
t
ra
dit
i
on
al
D
C
mo
to
r
an
d
B
L
DC
m
o
tor
is
i
nc
r
e
asing
of
p
ar
ts
c
o
mple
x
i
ty
t
ha
t
im
pac
t
o
n
t
h
e
BLD
C
m
o
t
or
g
e
n
era
l
r
esu
lts.
The
i
n
d
u
c
t
i
ve
a
n
d
r
e
s
is
t
i
ve
s
har
e
s
of
t
he
B
LD
C
mo
t
o
r
con
f
i
gura
t
io
n
b
eco
me
p
re
t
e
nt
iou
s
w
h
e
n
th
e
r
e
’
s
pha
se
a
lt
e
r
a
t
ion.
F
ig
ur
e
2
s
h
ow
s
the
s
y
m
m
e
t
r
i
cal
3
-
pha
se
“
w
y
e”
i
n
t
e
r
n
al
c
o
nnec
t
i
o
n
o
f
t
h
i
s
m
o
t
o
r
.
T
he
B
LD
C
mo
tor
m
at
hemat
i
cal
s
t
r
u
c
tu
re
w
as
c
re
a
t
e
d
f
ro
m
the
t
ypic
a
l
D
C
m
otor
m
athe
ma
t
i
c
a
l
m
ode
l
[
5
]
.
F
i
gur
e
2.
B
LD
C
m
o
tor
m
odel
.
B
L
D
C
m
ot
or
i
s
li
ke
c
o
nve
n
t
i
ona
l
D
C
m
ot
or
e
xc
ep
t
t
h
er
e
i
s
t
h
r
ee
pha
se
s
i
n
B
LD
C
m
o
t
o
r
,
t
he
B
LD
C
m
o
tor
o
u
tp
ut
s
pe
ed
i
s
r
e
g
u
l
a
t
ed
t
hr
ou
gh
w
a
ys
o
f
a
thr
e
e
-
pha
se
p
ul
se
-wid
th
m
odu
la
tio
n
in
v
e
r
t
er.
Th
is
m
o
t
o
r
dy
na
mic
fea
t
ur
es
i
s
li
ke
t
o
p
e
r
m
anent
ma
g
n
e
t
D
C
m
o
t
o
r
.
T
he
B
LD
C
m
otor
e
q
u
a
t
i
o
ns
c
a
n
b
e
e
x
pr
e
ssed
b
y
(
1
)-(5
) [
1
0
]
∗
(1
)
∗
(
2
)
∗
(
3
)
∗
(
4
)
wh
ere:
:
a
ppl
ie
d
v
o
lta
ge
: M
o
tor
spee
d
:
Bac
k
elec
t
r
om
oti
v
e f
o
rce
:
he
m
oto
c
u
r
r
e
nt
L:
T
he
i
nd
uc
ta
nce
of
s
t
a
t
o
r
T:
T
he
m
otor
t
or
q
u
e
D: Viscou
s
co
e
f
f
i
c
ient
J
:
Mo
m
en
t
o
f
i
n
e
r
t
i
a
Kb: Bac
k
elec
tr
omot
ive
forc
e
The
B
L
D
C
m
otor
t
r
a
ns
fer
fun
c
t
i
o
n
w
i
t
h
co
nt
r
o
l
sys
t
e
m
i
s
ca
l
c
u
l
a
te
d:
∗
∗
∗
(
5
)
The
B
L
D
C
m
ot
or
m
athem
a
t
i
ca
l
m
o
de
l
is
c
alcu
la
te
d
d
e
p
e
nd
i
ng
on
t
h
e
ch
o
s
en
v
alu
e
o
f
mo
to
r
pa
r
a
m
e
ter
s
f
r
o
m
w
h
ich
a
r
e
r
e
pr
esen
ted
i
n
T
able
1
.
Tab
l
e
1.
P
arameter
s val
u
es
o
f
the
s
t
ud
ie
d m
o
tor
Pa
r
a
m
e
t
e
rs
V
alue
s
S
t
at
o
r
r
es
i
s
t
a
n
c
e
(
R)
21
.2
Ω
Ind
u
c
t
a
n
ce
o
f
the
s
t
a
t
or
(L
)
0.05
2
H
Motor
tor
que
c
onst
a
nt
(
K
t
)
0
.
1433
Kg
m
/A
B
ack
e
l
e
ct
r
o
m
o
t
i
v
e f
o
r
ce
co
n
s
tan
t
(
K
b
)
0.0419
V
/
rad
/
S
Mo
me
n
t
o
f
in
er
t
i
a (
J
)
1∗
1
0
Kg
m
s
/rad
Vi
s
c
o
u
s
c
o
e
f
f
i
ci
en
t
(
D)
1∗
1
0
kg
m
s/
ra
d
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t
J
P
o
w
Elec
&
D
r
i
S
y
st
I
S
S
N
:
2088-
86
94
O
p
tim
a
l
PI
D
con
t
r
o
ller
o
f
a b
r
ushle
ss D
C
mot
o
r us
ing ge
n
e
tic a
l
go
ri
t
h
m
(
M
uham
m
e
d
A.
I
b
rah
i
m
)
82
5
3.
PID
CONT
R
O
LLER
The
P
I
D
(P
r
opor
t
i
o
n
a
l
,
I
n
te
gr
a
l
a
n
d
D
e
f
er
en
ti
a
l
)
co
n
t
r
o
ll
e
r
d
es
i
g
n
b
a
s
e
d
o
n
Zi
e
g
l
e
r
-
Ni
c
h
o
l
s
met
hod
d
e
p
e
n
d
s
o
n
t
r
i
a
l
a
n
d
e
r
r
o
r
t
o
t
u
n
i
n
g
t
h
e
p
a
r
a
m
e
t
e
r
s
(
,
.
T
his
m
e
tho
d
i
s
pe
r
f
o
r
m
ed
e
m
p
lo
y
i
ng
the
BLD
C
m
ot
or
m
odel
o
f
ope
n
l
o
o
p
s
ys
tem
and
t
h
e
n
f
i
n
d
i
n
g
t
he
r
e
q
u
i
red
v
a
lu
es
o
f
mo
tor
p
a
rameter
n
ecess
ary
f
o
r
c
a
lcu
l
a
t
in
g
P
I
D
f
actor
s
gai
n
v
a
l
ue
s
i
n
o
r
d
e
r
t
o
ge
t
bes
t
r
e
sp
onse
[
9
]
.
H
o
w
e
ve
r
,
c
on
ve
n
tio
na
l
P
I
D
c
o
nt
r
o
l
l
er
w
a
s
w
or
ke
d
t
o
c
on
tr
o
l
a
nd
im
pr
o
v
e
the
s
p
e
e
d
-
t
or
que
o
f
BD
C
M
m
o
t
or
s
i
n
ce
P
I
D
c
on
t
r
ol
ler
has
ad
va
nta
g
e
s
l
i
k
e
:
s
i
m
pl
e
a
n
d
e
a
s
y
t
o
u
se
,
st
ab
l
e
,
ea
sy
t
o
ad
ju
st
ab
l
e
a
nd
hi
g
h
r
elia
b
i
l
ity
T
he
c
o
nve
n
tiona
l
m
e
th
o
d
s
of
P
I
D
t
un
in
g
ar
e
not
r
el
iab
l
e
for
r
eal
time
respon
se.
F
i
gure
3
show
s
t
h
e
BD
CM
w
i
t
h
P
I
D
c
o
n
t
r
o
l
l
er
s
yste
m
bl
oc
k
d
i
a
g
r
a
m.
T
he
c
o
ntr
o
l
func
t
i
o
n
e
x
p
r
e
ssed
a
s
[1
1]
.
u
t
k
k
s
(
7
)
W
h
ere:
,
and a
re
t
he pr
opor
tiona
l
,
Integr
a
l a
n
d der
i
va
t
i
ve
c
ont
r
ol
l
e
r
g
a
i
n
va
lues
o
f
P
I
D
c
ontr
o
ll
e
r
.
PID
Tu
nin
g
I
mp
l
e
me
nt
at
io
n:
T
h
e
re
a
re
m
a
n
y
met
h
o
d
s
to
t
uni
ng
c
o
nve
nt
iona
l
P
I
D
,
i
n
th
i
s
p
a
p
er
,
tw
o
me
t
h
od
s
w
e
r
e
c
hose
n
f
or
t
u
n
n
ig
:
F
i
gur
e
3.
B
LD
C
mot
o
r
w
i
t
h
P
I
D
c
on
tr
ol
ler
sys
t
e
m
b
loc
k
d
i
a
gr
am
3.
1.
T
a
ri
a
l
an
d
error
tunnin
g
In
t
hi
s
me
tho
d
,
Kp
,
Ki
a
n
d
Kd
v
al
u
e
s
are
se
l
e
ct
ed
b
a
s
ed
o
n
th
e
des
i
g
n
er's
e
x
p
er
i
e
nc
e,
f
rom
this
m
e
tho
d
t
he
o
bt
aine
d
c
o
e
f
f
e
c
i
e
n
t
s
v
a
l
ues
o
f
P
I
D
g
a
i
ns
a
r
e
:
Kp
=
8
00
,
Ki
=
29
0
,
Kd
=
0
.
039
The
respo
n
se
o
f BDC
M
u
s
i
n
g
traial
a
n
d
e
rror
and
t
i
m
e
c
har
acte
r
s
tic
s
is
s
h
o
wn i
n F
i
gur
e 4
F
i
gur
e
4.
S
tep
r
e
spo
n
se
o
f
t
r
ia
l
and
er
r
o
r
f
o
r
BLD
C
m
otor
sys
te
m
3.
2.
M
A
TALB PID tunn
er
app.
The
K
p
,
K
i
a
n
d
K
d
v
al
ues
a
r
e
a
c
hie
v
ed
b
y
usi
n
g
MA
TL
A
B
P
I
D
T
une
r
Ap
pl
icati
o
n
in
M
ATALB
R
2
0
1
7
a
sof
t
w
a
r
e
a
s
show
n
be
low
:
K
p=
7
00
,
K
i
=
3
6
0
,
K
d=
0.
09.
The
r
e
sp
o
n
se
o
f
B
D
CM
u
s
i
ng
M
A
T
L
A
B
T
u
nner
tr
ail
a
n
d
e
r
r
o
r
and
t
i
m
e
c
ha
r
a
c
t
er
st
ics
a
r
e
show
n
i
n
Fi
g
u
re
5
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
S
S
N: 2
0
8
8
-
86
94
I
n
t
J Po
w
Elec
&
Dr
i
Sy
st,
Vo
l. 1
0
,
No
. 2
,
Ju
n
e
2
019
:
8
2
2
–
8
30
82
6
F
i
g
u
r
e
5
. S
tep
r
e
sp
on
se o
f au
to
t
uning
f
o
r
BLDC mo
t
o
r
system.
4.
GEN
ETIC A
L
GO
R
I
THM TUINNING PID
C
O
T
ROLLER
G
e
ne
tic
a
l
gor
it
hm
i
s
t
h
e
m
a
j
o
r
c
a
teg
oy
of
e
vo
l
u
t
i
ona
r
y
a
lgor
it
h
m
s
(
EA)
tha
t
c
r
eate
s
r
eso
l
u
t
i
o
ns
t
o
op
t
i
miza
tio
n
di
ff
ic
u
lti
es
r
e
t
a
i
n
i
n
g
m
e
t
h
o
d
s
st
imula
t
e
d
b
y
us
ua
l
d
e
v
e
l
opme
n
ts
s
uch
a
s
:
se
l
e
ctio
n,
i
n
h
e
r
ita
nce
,
m
u
tat
i
o
n
a
n
d
cr
ossi
n
g
.
G
A
i
s
o
p
er
a
t
e
d
t
o
deci
de
on
op
tim
i
z
in
g
t
h
e
r
a
t
e
s
o
f
P
I
D
c
o
n
t
r
o
l
l
e
r
g
a
i
n
s
f
o
r
t
h
e
se
l
e
c
t
ed
B
LD
C
m
o
tor
sys
t
e
m
.
The
con
t
r
o
ller
i
s
p
r
o
pose
d
f
or
t
o
r
edu
c
e
t
h
e
e
r
ro
r
d
e
c
r
ea
se
o
f
th
e
o
u
t
p
ut
r
e
spo
n
se
w
ith
r
e
g
an
d
to
t
he
o
rie
n
ta
t
i
o
n
s
ig
na
l
[1
2].
The
er
ror
is
c
ompu
ted
e
qua
ll
y
t
h
e
per
f
o
r
m
ance
t
a
b
le
,
a
c
hie
v
e
d
b
y
r
e
duc
i
ng
the
er
r
o
r
am
ong
the
uni
ts
s
te
p
o
f
i
np
u
t
r
e
spo
n
se
.
The
ph
ysi
o
g
n
o
mie
s
f
or
t
he
w
ante
d
pe
r
f
or
m
a
nc
e
ar
e
t
y
p
i
ca
ll
y s
t
a
t
ed
i
n
r
e
la
ti
on
s
of
t
i
m
e
f
i
el
d
a
m
o
unts.
T
he
c
on
f
i
g
u
r
a
tio
n
o
f
t
he
g
ene
t
ic
a
lg
or
i
t
hm
m
odi
f
i
cat
i
on
P
I
D
con
t
r
o
l
l
e
r
f
actor
s
ar
e
sho
w
n
in
t
he
F
i
gur
e
6.
The per
f
or
m
a
nce
of
c
o
n
t
r
o
l
sys
t
em
i
s
m
eas
u
r
e
d
e
q
u
a
lly t
o
op
t
i
mu
m
.
I
f
th
e
par
a
me
t
e
r
s
v
a
l
ue
s
of
P
I
D
c
o
n
t
r
o
ller
a
r
e selec
t
e
d
s
uc
h t
h
e
pe
r
f
or
ma
nce
tab
l
e
i
s
l
ow
es
t
.
I
n
t
e
g
ral
squ
a
r
e
d
er
ro
r
(I
S
E
)
an
d
in
teg
r
al
a
bsolute
-
erro
r criter
i
on
(IAE)
a
re selected
a
s ob
j
ectiv
e fun
c
tio
n
in
t
he
c
o
n
tr
ol
l
e
r
p
l
a
n
t
ec
hn
i
que.
The
ge
ne
tic
so
f
tw
ar
e
de
sig
n
i
s
use
d
t
o
m
i
t
i
ga
t
e
t
he
z
one
s.
T
he
e
r
r
or
c
r
iter
i
a
I
A
E
an
d
ISE
f
o
rmu
l
as are
a
s fo
llows
[
1
3
]
:
(8
)
(
9
)
The
pro
p
o
s
ed f
l
o
wc
hart
b
e
l
o
w
illus
t
ra
t
i
o
n
s the
fu
ll proc
ed
ure
o
f
G
A
e
v
aluat
i
on
m
o
r
e
o
b
v
io
us
ly
i
n
Fi
g
u
re
7
.
F
i
gur
e
6.
O
pti
m
al
P
I
D
Con
t
r
o
l
l
e
r
c
on
fi
g
u
r
a
ti
o
n
s.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t
J
P
o
w
Elec
&
D
r
i
S
y
st
I
S
S
N
:
2088-
86
94
O
p
tim
a
l
PI
D
con
t
r
o
ller
o
f
a b
r
ushle
ss D
C
mot
o
r us
ing ge
n
e
tic a
l
go
ri
t
h
m
(
M
uham
m
e
d
A.
I
b
rah
i
m
)
82
7
F
i
gur
e
7.
P
r
o
p
o
se
d
gene
tic
a
l
gor
it
hm
p
r
o
ce
ss
desi
gn
f
l
ow
cha
r
t.
Area o
f
erro
r
f
o
r
t
h
e sy
stem
r
esp
o
n
s
e
P
r
opo
se
d
ge
n
e
t
i
c
al
g
o
r
i
t
h
m
pr
oce
s
s
des
i
gne
d
in
M
A
T
LA
B
/
S
O
F
T
W
A
R
E
i
s
sh
o
r
tene
d
i
n
t
he
fo
llow
i
n
g
ste
ps
.
1-
Spec
ify
t
h
e
a
l
g
o
ri
thm
pa
ram
e
ter
s
,
the
major
c
h
ara
c
t
eris
t
i
cs
o
f
the
c
o
n
s
ider
e
d
o
pt
imiz
er
a
re
a
s
outl
i
n
es
i
n
Ta
ble
2.
Ta
ble
2.
P
aramete
r
s of
GA
1/I
A
E
&
1/ISE
F
itne
s
s
f
unc
tion
(pe
rfo
r
m
a
n
ce
i
nd
ex)
R
o
u
l
le
te
S
e
l
e
cti
on m
e
thod
40
G
e
n
e
r
a
tion
size
30
P
opula
t
i
o
n
si
ze
Proporti
ona
l
F
itne
s
s
s
c
a
l
ing
Arithme
ti
c
c
r
ossov
e
r
C
r
ossove
r
m
e
thod
90%
C
r
ossove
r
pro
b
a
b
il
ity
2%
Muta
t
i
on
proba
bili
ty
Unifo
r
m
m
u
ta
t
i
on
Muta
t
i
on m
e
thod
20
S
t
a
lle
d
ge
ne
r
a
ti
o
n
2-
R
a
nd
om
g
e
n
era
t
i
o
n
o
f
P
I
D
p
a
r
am
eter
s
(
K
p
,
Ki
,
Kd
)
.re
p
rese
n
t
e
d
b
y
m
a
t
ri
x
of
s
ui
t
a
b
l
e
so
lu
t
i
on
f
or
e
ach
a
v
ai
l
a
b
l
e
set
.
P
opu
la
ti
on
(
P
)
m
a
tr
ix
a
s
show
n
i
n
e
q
u
a
t
i
o
n
(
10)
1
1
1
2
2
2
(
10)
Whe
r
e
n
n
u
m
b
e
r
o
f
pop
u
l
at
i
o
n.
3
-
C
al
cu
l
a
t
i
n
g
o
f
t
h
e
fi
tn
e
s
s
v
a
l
u
e
fo
r
ev
ery
se
t
of
s
ol
ut
i
o
n
,
t
h
e
f
i
t
n
es
s
f
unc
t
i
o
n
i
n
pr
o
pose
d
a
lgor
i
t
hm
i
s
gi
ve
n
i
n
e
q
u
a
t
i
on
(
8
)
&
e
quat
i
on
(
9
)
.
T
his
a
p
p
l
ie
d
t
o
m
inim
i
z
at
io
n
.
4-
Se
lecti
ng o
f
l
i
m
i
t
e
d
p
op
u
l
at
io
n wit
h
gre
ate
r
p
erform
ance
.
5-
C
omp
o
s
iti
n
g
o
f
n
o
v
el
s
e
t
o
f
so
l
u
t
i
o
n
(
n
e
w
kp
ki
k
d)
f
r
o
m
fin
e
s
t
so
lut
i
o
n
i
n
p
re
ce
ding
l
oop
s.
6-
U
sing
ge
ne
tic
oper
a
tor
s
f
u
n
c
t
i
on
(
c
r
o
sso
v
e
r
& m
u
tat
i
on)
.
7-
R
e
pe
at
i
ng
pre
v
io
us ste
ps
(
fr
om
3
-6) till o
b
t
ai
n
i
n
g
o
pt
ima
l
P
I
D
c
o
n
tr
ol
ler
coe
f
fici
e
n
t
s
.
The
ta
ble
3
r
e
views
t
h
e
o
p
t
im
al
g
ai
n
va
l
u
es
o
f
P
I
D
con
t
ro
l
l
er
a
tta
ine
d
t
hr
ou
gh
u
si
ng
g
e
n
e
tic
al
go
r
i
th
m f
o
r
d
i
ff
erent
erro
r crit
eria.
Th
e
res
p
on
se
o
f
GA_
PID
of
both
er
ror
c
r
iter
i
a
is
s
h
o
w
n
i
n
F
i
gur
e
8.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
S
S
N: 2
0
8
8
-
86
94
I
n
t
J Po
w
Elec
&
Dr
i
Sy
st,
Vo
l. 1
0
,
No
. 2
,
Ju
n
e
2
019
:
8
2
2
–
8
30
82
8
Ta
b
l
e
3.
G
a
i
ns
o
f
P
I
D
contr
o
l
l
e
r
e
nhanc
e
d
b
y
genet
i
c
al
g
o
r
ithm
p
aram
et
ers
I
AE
IS
E
Kp
3
8
9
.
6
25
4
63
.
7
6
5
Ki
49
9.
8
2
2
4
99
.
8
5
3
Kd
1
5.59
7
17
4.8
8
6
F
i
gur
e
8.
S
t
e
p
r
e
sponse
of
G
A
-
P
I
D
for
B
L
D
C
m
otor
s
ys
t
e
m
.
5.
RESU
L
T
S
A
ND ANALY
S
IS
The
a
c
h
iev
e
me
nt
o
f
c
o
nve
nt
iona
l
P
I
D
con
t
r
o
l
l
er
i
s
not
g
e
t
t
i
ng
t
h
e
pe
rfe
c
t
r
esu
lts
f
or
h
i
g
h
pe
r
f
or
m
a
nc
e
c
o
n
t
r
o
l
system
d
e
s
i
g
n
o
f
B
LD
C
mot
o
r
sys
t
e
m
.
S
i
milar
l
y
t
he
a
p
p
ro
pr
i
a
t
e
o
p
tim
ize
d
c
oe
fficie
n
t
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Int J
P
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CONCL
U
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I
n
t
h
i
s
stu
dy,
t
he
d
e
s
i
g
ne
d
P
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D
for
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m
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c
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trol
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ys
tem
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nc
lu
d
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e
nha
ncem
ent
by
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A
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s
pro
pose
d
.
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p
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tr
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r
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t
t
e
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t
i
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are
d
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o
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sig
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riter
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its
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r
d
a
mp
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d
f
ro
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un
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system
.
IA
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make
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n
I
SE
o
u
t
pu
ts
b
u
t
w
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t
h
o
u
t
a
b
i
g
o
sc
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la
tio
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o
v
e
r
time
.
Conse
que
n
tly
t
h
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s
pr
o
p
o
se
d
regu
lat
o
r
(
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-
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S
E
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ize
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d
riv
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a
B
LD
C
m
o
tor
for
sens
iti
ve
a
pp
l
i
cati
o
ns.
REFE
RENCES
[1]
Ah
m
e
d,
A
hm
ed
M
.,
e
t
al.
“Bru
shl
e
ss
DC
m
ot
or
s
peed
c
ontrol
u
sing
both
P
I
c
ont
ro
l
l
er
a
nd
f
uzzy
P
I
con
t
ro
ll
er”
In
te
r
n
atio
na
l J
o
urn
a
l
o
f
Co
mpu
t
e
r
Ap
plic
a
t
io
n
s
, Vo
l
.
1
0
9
(1
0), p
p.
29
-
35
, 20
1
5
.
[2]
Zh
ao,
J
i
an,
and
Yan
g
w
e
i
Y
u
.
“
B
ru
sh
less
D
C
motor
f
u
nda
m
ent
a
ls
a
p
pli
cati
o
n
no
te
“
MPS
,
F
u
t
u
r
.
A
nalog
IC
T
echn
o
l
,
pp.
7
-8
,
20
11.
[3]
V.
S
enth
il
Nayagam
and
L.
P
remala
t
h
a."Green
E
nergy
Bas
e
d
C
o
u
p
le
d
In
du
ctor
I
nt
erleav
ed
C
on
v
e
rter
w
it
h
MP
PT
Tech
ni
qu
e
f
o
r
BL
DC
A
p
p
licati
o
n
.
"
Inter
n
a
t
i
onal Jo
ur
nal
of
P
o
wer E
l
ectr
onics
and
Dri
ve Sys
t
em (
I
J
PEDS
)
,
V
o
l
.
9,
No. 4, pp. 1
725-1
732
, D
ecember 20
18
.
[4]
S
o
n
i
,
Yog
e
nd
ra
K
um
ar,
and
Rajesh
B
hatt
.
“
B
F
-
P
S
O
o
p
t
i
mi
z
e
d
P
I
D
c
on
tro
l
le
r
d
e
sign
u
s
i
ng
I
SE,
IAE,
I
A
TE
a
nd
MSE
error
crit
eria“,
Intern
a
t
io
nal Jou
r
na
l of
Ad
vanced
Resea
r
ch
i
n
Com
puter
E
n
g
i
neer
in
g an
d Techn
o
l
o
g
y
.
Vo
l
.
2.
N
o.
7
,
pp.
2
333-2
336
,
2
01
3.
[5]
Ak
ram
H.
A
hmed,
A
bd
E
l
S
amie
B
.
Ko
tb
a
nd
A
ym
an
M
.
A
li,
“
Com
p
ari
s
o
n
b
e
t
w
e
e
n
F
u
z
z
y
L
o
g
i
c
a
n
d
P
I
C
o
n
t
r
o
l
f
o
r
t
h
e
S
p
eed
o
f
BLD
C
M
oto
r
”.
Int
e
rnati
o
n
a
l
J
our
na
l of Po
wer El
ectr
onics a
nd Drive Sys
t
em
(
I
JP
EDS)
,
Vo
l
.
9
,
No. 3
, pp
. 11
1
6
~
11
2
3
, Sep
temb
er 20
1
8
.
[6]
S
o
n
i
,
Y
o
g
e
n
d
r
a
K
u
m
a
r
,
a
n
d
R
a
j
e
s
h
B
h
a
t
t
.
"
B
F
-
P
S
O
o
p
t
i
m
i
z
e
d
P
I
D
c
o
n
t
r
o
l
l
e
r
d
e
s
i
g
n
u
s
i
n
g
I
S
E
,
I
A
E
,
I
A
T
E
a
n
d
MSE
error
criteri
a."
Int
e
rnati
o
n
a
l
Jou
r
n
a
l
of Adva
nced
Res
e
ar
ch i
n
Comp
u
t
er
Engin
eeri
n
g
an
d
Techn
o
lo
gy.
Vol
2
no
7
,
pp.
2
33
3-2
3
36
,
2
013
.
[7]
N.
N
.
Baharu
din
and
S
.
M
.
A
yob,
“
Brus
h
l
ess
DC
M
o
t
o
r
S
p
eed
C
on
tr
ol
Using
S
ing
l
e
In
p
u
t
Fuz
z
y
PI
C
on
tro
l
le
r”
.
Int
e
rn
ation
a
l
Jo
ur
na
l
o
f
P
o
wer El
ectr
onics
an
d
Dr
ive
Sys
t
em
(
I
JPEDS)
,
V
ol.
9
,
N
o
.
4
,
pp
.
1
9
5
2
~
1
966
,
Decem
b
e
r
20
18
.
[8]
Kh
ub
alk
a
r,
S
.
W
.
,
et
a
l.
"
Des
i
gn
a
nd
t
u
n
i
ng
o
f
fractio
nal
o
r
de
r
P
ID
c
on
t
r
oller
f
o
r
sp
eed
c
on
trol
o
f
perm
anen
t
m
a
gn
et
b
rus
h
l
e
ss
DC
m
otor”,
C
o
ntro
l,
Me
asu
r
e
m
e
n
t an
d In
st
ru
me
ntat
io
n
(C
MI
),
20
16
I
E
E
E
F
i
rst
Inte
rna
tion
a
l
Con
f
er
ence o
n
. I
E
E
E
,
20
1
6
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SSN: 2088-
8694
Int J
P
o
w
El
e
c
&
D
ri S
yst
,
V
ol.
10,
N
o.
2
, June
20
1
9
:
822
–
8
30
83
0
[9]
G.
G
.
Raj
a
S
ek
har
and
Bas
a
v
a
raja
B
anak
a
r
a,
“
P
e
rfo
rm
a
n
ce
of
B
rush
l
e
s
s
D
C
D
r
i
v
e
w
i
t
h
S
i
n
g
l
e
C
u
r
r
e
n
t
S
e
n
s
o
r
F
e
d
f
r
o
m
P
V
w
ith
H
igh
Vo
ltage-Gain
DC-DC
C
onverter”.
In
ter
nat
io
nal Jo
urn
a
l of
Po
wer El
ectr
o
n
i
cs
and
Driv
e
Sys
t
em
(
I
JPE
D
S
)
,
V
ol.
9,
N
o
.
1
,
pp.
3
3
~
45
,
M
a
rc
h
2
0
1
8
.
[10]
Nas
r
i,
M
ehdi,
Hos
s
ei
n
N
ezamab
adi
-
P
o
u
r
,
and
Mali
he Mag
hf
o
o
ri.
“
A
PS
O
-bas
ed
opt
im
um
d
es
ig
n
o
f
P
ID cont
ro
l
l
e
r
f
o
r
a
linear
b
rushl
e
ss
D
C
m
o
t
o
r”
W
o
rl
d
Acad
emy of Sci
e
nce,
E
ngin
eeri
ng an
d
T
ech
no
log
y
,
vo
l.
2
6
,
n
o.4
0
,
pp
.
2
1
1
-
21
5,
2
0
07.
[11]
P
o
t
h
o
r
ajoo,
S
a
t
is
hrao,
and
Hamd
an
D
ani
y
al.
"PID
b
id
i
r
ecti
o
n
a
l
s
peed
c
on
trol
le
r
fo
r
BLD
C
w
i
t
h
s
e
am
l
e
ss
sp
eed
revers
al
u
si
ng
D
irect
C
o
m
m
u
tati
on
S
w
i
t
ching
S
c
h
e
me.
"
Contro
l
and S
y
st
em G
r
a
d
u
a
te
Res
e
arch
Co
ll
oqu
ium
(I
C
S
G
R
C
)
,
2017
IEEE 8t
h
.
I
E
E
E, 2017.
[12]
S
Dawo
od
,
Y
ouni
s,
A
l
i
K
M
ah
m
o
od,
a
n
d
M
uh
am
m
e
d
A
Ib
ra
him.
“
Com
p
a
ri
so
n
of
P
ID,
GA
a
n
d
F
uz
z
y
L
o
g
ic
Co
ntrol
l
e
r
s
for
Cruise
C
o
n
tro
l
S
yste
m”
,
Intern
atio
na
l J
o
ur
nal of
Com
p
u
t
i
ng an
d Di
g
i
t
a
l
S
y
st
ems
,
vo
l
7
,
n
o
05
,
p
p
.
31
1-3
1
9
.
;
201
8.
[13]
Kro
h
lin
g,
R
enato
A.,
and
J
o
o
s
t
P
.
R
ey
.
“Design
of
o
p
tima
l
d
istu
rb
ance
rejecti
o
n
P
I
D
co
ntrollers
us
ing
g
e
netic
alg
o
rith
ms”,
IE
EE
T
r
a
n
sa
c
t
i
ons o
n
E
v
ol
u
tio
nar
y com
p
u
t
a
t
io
n,
Vo
l
5
n
o 1
, p
p
. 78
-
82
, 20
0
1
.
B
I
OGRAPHIES
O
F AUTHO
RS
M
u
ham
m
e
d
A
.
Ibrah
i
m
.
B
.
S
c
in
P
ow
er
T
ech
nical
E
n
g
i
n
eeri
n
g
/
N
orth
e
rn
T
echn
i
cal
U
n
i
vers
it
y-
Ira
q-M
o
sul
in
2
01
1
with
g
ra
de
v
e
r
y
Go
o
d
w
ith
Ra
nk
e
d
f
irst
.
M
S
c
i
n
E
l
ectric
a
l
En
gin
eerin
g
/
C
ont
ro
l
E
n
g
i
n
e
e
rin
g
f
r
om
E
l
ectrical
E
ng
.
D
e
pt
.
/
Co
lleg
e
o
f
E
n
g
i
neeri
n
g
/U
n
i
ve
rs
it
y
of
M
o
s
ul
i
n
2
0
1
3
w
i
t
h
g
r
a
d
e
v
e
r
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o
o
d
.
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u
r
r
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n
t
l
y
h
e
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s
a
n
a
s
s
i
s
t
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n
g
l
e
c
tu
rer
at
t
he
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epartm
ent
S
y
stem
and
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/
Elect
ron
i
cs
E
n
g
i
n
eeri
n
g
/
N
in
eva
h
U
ni
versi
t
y.
c
u
rrent
r
e
s
earch
i
n
t
erest
s
i
nclu
de
l
i
n
e
a
r
a
nd
no
n
l
i
n
ear
s
ys
tems
optimi
zati
o
n
,
M
achines
a
nd
d
ri
ves.
A
u
s
a
ma
K
h.
M
ah
m
ood
.
B.
S
c
i
n
P
o
w
e
r
Tech
nical
E
n
g
i
n
eerin
g/
N
ort
h
e
rn
T
echn
i
cal
U
n
i
vers
it
y-
Iraq
-
Mo
su
l
in
2
0
11
w
i
t
h
g
rad
e
v
ery
Go
od
.
MSc
i
n
E
l
ectrical
E
ng
i
n
eering
/P
ower
E
l
e
ct
ronic
E
n
g
i
neeri
n
g
f
rom
Electri
cal
E
ng.
D
ept./
En
g
i
ne
erin
g
Col
l
eg
e
/
Mosul
Univers
i
t
y
i
n
2
014
wi
t
h
g
r
ade
G
o
o
d
.
Cu
rrent
ly
h
e
is
a
n
a
ss
isti
ng
l
ect
urer
a
t
E
l
ectri
ca
l
Po
wer
Depart
ment
-
T
echni
cal
Institute in Mos
u
l/Northen
T
e
c
hni
cal Un
i
vers
i
t
y
N
a
sh
wan
S.
S
u
ltan.
B
.S
c
in
P
ower
T
echni
cal
E
ngi
neeri
ng/
N
o
r
the
r
n
T
echn
i
cal
U
ni
vers
it
y-
Iraq-
M
o
sul
in
2
008
w
ith
g
rad
e
v
ery
Go
od
w
it
h
Ranked
first.
M
S
c
i
n
El
ectrical
E
ngineering
/Con
trol
E
n
g
i
neeri
n
g
f
rom
El
ectrical
E
n
g
.
Dep
t
./
Co
lleg
e
o
f
Eng
i
n
eering
/
U
nivers
it
y
of
M
o
s
ul
i
n
2
0
1
3
w
i
t
h
g
rad
e
v
ery
Go
od
.
Cu
rrent
ly
h
e
is
a
n
a
ss
is
ting
l
ectu
r
er
a
t
t
he
D
ep
artm
ent
Power
T
e
c
h
ni
cal
E
n
g
i
neeri
ng/ E
n
g
in
e
e
ri
ng
Tech
ni
ca
l
Colleg
e
/M
osul
.
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